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Articles by Y. Dahmani
Total Records ( 3 ) for Y. Dahmani
  Y. Dahmani and A. Benyettou
  This study deals with avoider obstacle behaviour of a mobile robot in unknown environment. The use of fuzzy logic allows to provide universal rules for avoiding obstacles, and on other hand it gives assurance for a predicted and reliable behaviour of the robot. By lack of reference trajectory, it was urged to use one of reinforcement learning method, fuzzy Q-learning which allows to take into account continual state spaces and actions. In this study, an adaptation method was proposed of fuzzy linguistic rules: after the stage of rules extraction from a fuzzy inference system of fixed structure, we provide a methodology for parameter tuning of the fuzzy sets in terms of the robot inertia without affecting the conclusion rules.
  Y. Dahmani and A. Benyettou
  The objective of this work tries to answer the question, in what the reinforcement learning applied to fuzzy logic can be of interest in the field of the reactive navigation of a mobile robot. In the first instance we have established an algorithm applying the reinforcement learning to fuzzy limited lexicon. We have applied it to a robot for the training of the follow-up of a rectilinear trajectory of a starting point "D" at a point of unspecified arrival "A", while avoiding with the robot butting against a possible obstacle.
  Y. Dahmani and A. Benyettou
  In this article, we presented the Q-Learning training method which is a derivative of the reinforcement learning called sometimes training by penalty-reward. We illustrate this by an application to the mobility of a mobile in an enclosure closed on the basis of a starting point towards an unspecified arrival point. The objective is to find an optimal way optimal without leaving the enclosure.
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